JPWO2016060054A1 - Jig information setting method and jig information setting device - Google Patents

Abstract

Based on the position information (Pi) indicating the clamp position of the jig with respect to the new workpiece, the new workpiece section information (Cin) at the clamp position is recognized (step S6). Next, information similar to the recognized new workpiece section information (Cin) is searched from the existing workpiece section information (Cio) (step S7). Next, jig information (Ji) associated with the searched existing workpiece section information (Cio) is selected (step S9). Next, the selected jig information (Ji) and position information (Pi) are associated with each other and set as design information (Di) for a new workpiece (step S10).

Description

  The present invention relates to a jig information setting method and a jig information setting apparatus for setting jig information of a jig that supports a new workpiece with respect to design information of the new workpiece during welding work.

  In a manufacturing process of a vehicle or the like, an operation of welding a workpiece by moving a welding gun attached to the tip of a robot arm along a taught path is performed. When welding a new type of workpiece (referred to as a new workpiece), various operations such as teaching, determination of the position of a jig that supports the new workpiece, and design of the jig are required. Since these operations require man-hours, man-hour reduction is desired.

  One technique for reducing man-hours for preparatory work before welding is disclosed in, for example, Japanese Patent Application Laid-Open No. 2012-91304. Japanese Patent Laid-Open No. 2012-91304 automates teaching work and reduces man-hours by correcting and diverting part of teaching information for an existing work (referred to as existing work) as preparation work for welding to a new work. Technology is disclosed.

  Currently, as described in Japanese Patent Application Laid-Open No. 2012-91304, automating teaching work is considered. On the other hand, it is not considered to automate the design work of a jig that supports a new workpiece. Currently, the operator creates design information for jigs to be used for each new workpiece, and there is room for man-hour reduction.

  The present invention has been made in view of such problems, and provides a jig information setting method and a jig information setting apparatus capable of reducing the number of preparatory work steps required before welding work. With the goal.

  The present invention provides a jig information setting method for setting jig information of a jig that supports the new workpiece with respect to design information of the new workpiece during welding work, based on position information indicating a clamp position of the jig. A cross-section information recognition step for recognizing new workpiece cross-section information at the clamp position, information similar to the new workpiece cross-section information is searched from the existing workpiece cross-section information, and associated with the searched existing workpiece cross-section information. And a jig information setting step for selecting the jig information and setting the selected jig information and the position information in the design information in association with each other.

  The present invention may further include a position information setting step for determining the clamp position of the jig and setting the position information indicating the clamp position in the design information before the cross-section information recognition step. . If the clamping position of the jig is determined in advance before the cross-section information is recognized, the processing after the cross-section information recognition can be performed smoothly.

  The present invention provides a jig information setting device for setting jig information of a jig that supports the new workpiece with respect to design information of the new workpiece at the time of welding work, based on position information indicating a clamp position of the jig. A cross-section information recognition unit for recognizing new work cross-section information at the clamp position, and information similar to the new work cross-section information is searched from the existing work cross-section information and associated with the searched existing work cross-section information. A jig information setting unit that selects the jig information to be set and associates the selected jig information with the position information and sets the information in the design information.

  Moreover, in this invention, you may further provide the position information setting part which determines the said clamp position of the said jig | tool and sets the said positional information which shows the said clamp position to the said design information.

  Jig information related to the design of the jig is roughly determined by the workpiece cross-section information at the clamp position, for example, the clamp position, the cross-section orientation, the cross-sectional shape, and the like. For this reason, when setting the jig information of a new workpiece, if there is existing cross-section information similar to the cross-section information of the workpiece at the clamp position, the jig associated (linked) with the existing cross-section information Information can be used as jig information for new workpieces. According to the present invention, since the jig information is not created from scratch, but the existing jig information is used and set as design information, the number of steps for creating the jig information can be reduced.

  Further, if the clamping position of the jig is determined in advance before the cross-section information is recognized, the processes after the cross-section information recognition can be performed smoothly.

  According to the present invention, since the jig information is not created from scratch, but the existing jig information is used and set as design information, the number of steps for creating the jig information can be reduced.

FIG. 1 is a block diagram of a jig information setting device according to the present embodiment. FIG. 2 is a schematic diagram for explaining cross-sectional information. FIG. 3 is a flowchart for explaining the operation of the jig information setting apparatus according to the present embodiment.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments of a jig information setting method and jig information setting apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In the following description, an assembly of a vehicle body is assumed as a new workpiece and an existing workpiece to be welded.

[Device configuration]
FIG. 1 is a block configuration diagram of a jig information setting device 10 according to the present embodiment. The jig information setting device 10 temporarily stores the design information storage unit 12 that outputs the design information Di of the new workpiece to the information processing unit 20 and the design information Di of the new workpiece processed by the information processing unit 20. A temporary storage unit 14, an existing information storage unit 16 that stores jig information Ji of an existing workpiece, a final storage unit 18 that finally stores design information Di of a new workpiece processed by the information processing unit 20, An information processing unit 20 that performs various types of information processing and a user interface 40 are provided. Any two or all of the design information storage unit 12, the temporary storage unit 14, and the final storage unit 18 can be combined.

  The design information storage unit 12 stores new workpiece design information Di, and outputs the stored new workpiece design information Di to the information processing unit 20. The new workpiece design information Di stored here includes new workpiece identification information [vehicle body system (light, sedan, minivan, etc.) and assembly type information] Ii and new workpiece shape information Si. On the other hand, jig position information Pi and jig information Ji are not included.

  The temporary storage unit 14 temporarily stores design information Di of a new workpiece processed by the information processing unit 20, and outputs the temporarily stored new workpiece design information Di to the information processing unit 20. . The new workpiece design information Di temporarily stored here includes new workpiece identification information Ii, new workpiece shape information Si, and jig position information Pi, while jig information Ji is included. Absent.

  The existing information storage unit 16 is configured by a database, for example, and stores jig information Ji of an existing workpiece. The jig information Ji of the existing workpiece includes information such as the shape and type of the jig, for example. Each piece of jig information Ji is associated with cross-section information of an existing workpiece at a position supported by the jig, that is, a clamp position. This section information is referred to as existing workpiece section information Cio. The existing workpiece cross-section information Cio includes information such as a clamp position, a cross-section orientation, and a cross-sectional shape. For example, as shown in FIG. 2, in the case of the cross section 52 of the workpiece 50, the coordinates (x, y, z) of the center of gravity G of the cross section 52, the normal vector N of the cross section 52, and the shape of the cross section 52 are Remembered. Each jig information Ji is also associated with identification information Ii of an existing workpiece.

  The final storage unit 18 finally stores the design information Di of the new workpiece processed by the information processing unit 20. The new workpiece design information Di stored here includes new workpiece identification information Ii, new workpiece shape information Si, jig position information Pi, and jig information Ji.

  The information processing unit 20 is a computer including a computer, a CPU (central processing unit), a ROM (including EEPROM) as a memory, a RAM (random access memory), an A / D converter, and a D / A conversion. Input / output device such as a vessel, a timer, etc. The information processing unit 20 reads and executes a program recorded in the ROM by the CPU, so that various function implementation units, specifically, a position information setting unit 22 and a cross-section information recognition unit 24 as shown in FIG. Functions as a jig information setting unit 26 and a design information input / output unit 28.

  The position information setting unit 22 receives the new workpiece design information Di from the design information storage unit 12, performs predetermined information processing, and outputs the processed new workpiece design information Di to the temporary storage unit 14. The position information setting unit 22 determines a part supported by the jig from the new work, and sets position information Pi indicating the position of the part, that is, the clamp position, in the design information Di of the new work.

  The cross-section information recognition unit 24 recognizes the cross-section information of the new workpiece at the clamp position indicated by the position information Pi based on the shape information Si of the new workpiece and the position information Pi set by the position information setting unit 22. This section information is referred to as new workpiece section information Cin. Similar to the existing workpiece cross-section information Cio, the new workpiece cross-section information Cin includes information such as a clamp position, a cross-section orientation, and a cross-sectional shape.

  The jig information setting unit 26 includes a search unit 32, a selection unit 34, and a setting unit 36. The search unit 32 searches the existing workpiece cross-section information Cio in the existing information storage unit 16 for information similar to the new workpiece cross-section information Cin recognized by the cross-section information recognition unit 24. The selection unit 34 selects jig information Ji associated with the existing workpiece cross-section information Cio searched by the search unit 32. The setting unit 36 sets the jig information Ji selected by the selection unit 34 to the design information Di of the new workpiece. At this time, the jig information Ji is associated with the position information Pi set by the position information setting unit 22.

  The design information input / output unit 28 inputs the design information Di of the new workpiece from the design information storage unit 12 and the temporary storage unit 14 and allows the information processing unit 20 to process the new workpiece. The design information Di is output to the temporary storage unit 14 and the final storage unit 18.

  The user interface 40 is configured by a personal computer, for example. The user interface 40 includes an input device 42 such as a mouse and a keyboard, and an output device 44 such as a display, a speaker, and a printer. The user interface 40 outputs input information corresponding to an input operation performed on the input device 42 to the information processing unit 20, and also outputs various information output from the information processing unit 20 to the operator via the output device 44. provide.

[Operation]
FIG. 3 is a flowchart for explaining the operation of the jig information setting apparatus according to the present embodiment. The following processing is performed in a three-dimensional virtual space, and the processing process is displayed on the output device 44 of the user interface 40.

  In step S 1, when the operator performs a process start operation using the input device 42 of the user interface 40, the design information input / output unit 28 inputs design information Di of the new workpiece from the design information storage unit 12.

  In step S <b> 2, the position information setting unit 22 performs a simulation using the design information Di of the new workpiece input by the design information input / output unit 28, and determines the clamp position of the jig from the new workpiece. Then, the position information Pi indicating the clamp position is set in the design information Di of the new workpiece. For example, the following simulation is performed.

  First, a plurality of clamp positions (1) to (m) serving as a reference in a new workpiece are determined. The plurality of clamp positions (1) to (m) are the minimum clamp positions at which a new workpiece can be stably supported. Position information Pi (1) to Pi (m) indicating the determined clamp positions (1) to (m) are set in the design information Di of the new workpiece.

  Next, when a new workpiece is supported at the clamp positions (1) to (m), a portion of the new workpiece whose deflection amount exceeds a predetermined value is determined. The determined position of the part is set as the clamp position (m + 1) in the design information Di of the new workpiece. Next, when a new workpiece is supported at the clamp positions (1) to (m + 1), a portion of the new workpiece whose deflection amount exceeds a predetermined value is determined. The position of the determined part is set as the clamp position (m + 2) in the design information Di of the new workpiece. The above processing is repeated until there is no portion where the deflection amount exceeds the predetermined value.

  When there are no more portions where the amount of deflection exceeds a predetermined value, the number of set portions of the jig is n. Position information Pi (1) to Pi (n) indicating the determined clamp positions (1) to (n) are set in the new workpiece design information Di. In step S <b> 3, the design information input / output unit 28 outputs the design information Di of the new workpiece set with the position information Pi (1) to Pi (n) to the temporary storage unit 14.

  When a jig information setting process start operation is performed via the input device 42 in step S4, the design information input / output unit 28 inputs the new workpiece design information Di from the temporary storage unit 14 again. Furthermore, when any one of the clamp positions (1) to (n) set in the new workpiece design information Di is selected in step S5, the information processing unit 20 performs the following steps S6 to S10. Processing is performed on the selected clamp position. The selection of the clamp position may be performed by an operation of a program or may be performed by a selection operation via the input device 42.

  In step S6, the cross-section information recognition unit 24 recognizes the new workpiece cross-section information Cin at the clamp position. At this time, the cross-section information recognition unit 24 recognizes the new work cross-section information Cin at the clamp position indicated by the position information Pi based on the new work shape information Si and the position information Pi set in the new work design information Di. .

  In step S <b> 7, the search unit 32 searches the existing workpiece cross-section information Cio stored in the existing information storage unit 16 for something similar to the new workpiece cross-section information Cin. When each cross-section information Cin, Cio includes coordinates (x, y, z) of the center of gravity G of the cross section 52, the normal vector N of the cross section 52, and the shape of the cross section 52 as shown in FIG. The unit 32 determines the similarity of coordinates, normal vectors, and cross-sectional shapes based on a predetermined determination criterion.

  In step S8, when there is no existing workpiece cross-section information Cio similar to the new workpiece cross-section information Cin in the existing information storage unit 16 (step S8: NO), the process proceeds to step S11 described later. On the other hand, when the existing work cross-section information Cio similar to the new work cross-section information Cin is present in the existing information storage unit 16 (step S8: YES), the process proceeds to the next step S9.

  In step S9, the selection unit 34 selects jig information Ji associated with the existing workpiece section information Cio searched by the search unit 32 in step S7.

  In step S10, the setting unit 36 sets the jig information Ji selected by the selection unit 34 in step S9 as the jig information Ji in the new workpiece design information Di. At this time, the setting unit 36 associates the jig information Ji with the position information Pi.

  When the jig information setting process is continued in step S11 (step S11: NO), the process proceeds to step S5, and the jig information setting process (step S5 to step S10) for another clamp position is repeated. On the other hand, when the jig information setting process ends (step S11: YES), the process proceeds to step S12. In step S12, the design information input / output unit 28 finally stores the new workpiece design information Di in which the position information Pi (1) to Pi (n) and the jig information Ji (1) to Ji (n) are set. Output to the unit 18.

[Summary of this embodiment]
The jig information setting method according to the present embodiment sets jig information Ji of a jig that supports a new workpiece with respect to design information Di of the new workpiece at the time of welding work. The jig information setting method according to the present embodiment includes a cross-section information recognition step (step S6) for recognizing new work cross-section information Cin at the clamp position based on position information Pi indicating the clamp position of the jig, and a new work cross-section. Information similar to the information Cin is searched from the existing workpiece cross-section information Cio (step S7), jig information Ji associated with the searched existing workpiece cross-section information Cio is selected (step S9), and the selected jig is selected. A jig information setting step (step S10) for setting the information Ji and the position information Pi in association with the new workpiece design information Di.

  Further, in the jig information setting method according to the present embodiment, the clamp position of the jig is determined before the cross-section information recognition step (step S6), and the position information Pi indicating the clamp position is used as the design information Di of the new workpiece. The position information setting process (step S2) to be set is performed.

  The jig information setting device 10 according to the present embodiment sets jig information Ji of a jig that supports a new workpiece with respect to design information Di of the new workpiece at the time of welding work. The jig information setting device 10 according to the present embodiment includes a cross-section information recognition unit 24 that recognizes new work cross-section information Cin at the clamp position, and new work cross-section information Cin based on position information Pi that indicates the clamp position of the jig. Is searched from the existing workpiece cross-section information Cio, jig information Ji associated with the searched existing workpiece cross-section information Cio is selected, and the selected jig information Ji and position information Pi are associated with each other. And a jig information setting unit 26 set in the design information Di of the new workpiece.

  The jig information setting device 10 according to the present embodiment includes a position information setting unit 22 that determines a clamp position of the jig and sets position information Pi indicating the clamp position in design information Di of the new workpiece.

  The jig information Ji related to the jig design is roughly determined by the workpiece cross-section information (new workpiece cross-section information Cin) at the clamp position, for example, the clamp position, the cross-sectional orientation, the cross-sectional shape, and the like. For this reason, when setting the jig information Ji of a new workpiece, if there is existing sectional information (existing workpiece sectional information Cio) similar to the workpiece sectional information (new workpiece sectional information Cin) at the clamp position, that existing The jig information Ji associated with (linked to) the cross-section information can be used as the jig information Ji of the new workpiece. According to the present embodiment, the jig information Ji is not created from scratch, but the existing jig information Ji is used to set the new workpiece design information Di. Can be reduced.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention. For example, the workpiece is not limited to the vehicle body. This embodiment can be applied to any jig as long as it is a jig that supports a workpiece.

  Further, the identification information Ii of the new workpiece may be used as material for determining similarity in the search in step S7 shown in FIG.

  In addition, the jig information setting process is not automatically performed on the clamp positions selected in step S5 shown in FIG. 3, but the jig information setting processes are sequentially automatically performed on all of the clamp positions (1) to (n). You may make it carry out.

  Further, in step S2 shown in FIG. 3, it is also possible to perform a simulation assuming a state in which a reinforcing member is installed in each part of the new workpiece (vehicle body), and determine a portion supported by the jig from the new workpiece.

Claims (4)

In a jig information setting method for setting jig information (Ji) of a jig that supports the new workpiece with respect to design information (Di) of the new workpiece during welding work,
A cross-section information recognition step for recognizing new work cross-section information (Cin) at the clamp position based on position information (Pi) indicating the clamp position of the jig;
Information similar to the new workpiece section information (Cin) is retrieved from the existing workpiece section information (Cio), and jig information (Ji) associated with the retrieved existing workpiece section information (Cio) is selected. And a jig information setting step for setting the design information (Di) in association with the selected jig information (Ji) and the position information (Pi). . In the jig information setting method according to claim 1,
Before the cross-section information recognition step, the method further comprises a position information setting step of determining the clamp position of the jig and setting the position information (Pi) indicating the clamp position in the design information (Di). Characteristic jig information setting method. In a jig information setting device that sets jig information (Ji) of a jig that supports the new workpiece with respect to design information (Di) of the new workpiece during welding work,
A cross-section information recognition unit (24) for recognizing new workpiece cross-section information (Cin) at the clamp position based on position information (Pi) indicating the clamp position of the jig;
Information similar to the new workpiece section information (Cin) is retrieved from the existing workpiece section information (Cio), and jig information (Ji) associated with the retrieved existing workpiece section information (Cio) is selected. A jig information setting unit (26) for associating the selected jig information (Ji) with the position information (Pi) and setting the design information (Di). Information setting device. In the jig information setting device according to claim 3,
The jig information further comprising a position information setting unit (36) for determining the clamp position of the jig and setting the position information (Pi) indicating the clamp position in the design information (Di). Setting device.

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